Rao-Blackwellized Particle Filtering for Mobility Positioning in Mixed Sight Conditions
Mixed sigh conditions include line-of-sight/non-line-of-sight (LOS/ NLOS) conditions, which have adverse impact on the precision for mobility positioning. A first-order Markov model is employed to describe the dynamic transition of sight conditions, which is hidden in measured data. A Rao-Blackwellized Particle filter (RBPF) is proposed to jointly estimate mobile state and the hidden sight state based on the measurement. Simulation results show the effectiveness of the method.
Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen
H. M. Hu "Rao-Blackwellized Particle Filtering for Mobility Positioning in Mixed Sight Conditions", Applied Mechanics and Materials, Vol. 43, pp. 329-332, 2011